Personal fork of the library for direct control instead of library control
Dependents: Thesis_Rotating_Platform
Fork of X_NUCLEO_IHM01A1 by
Diff: Components/l6474/l6474_class.h
- Revision:
- 4:83a1eb397a65
- Parent:
- 1:b38ebb8ea286
- Child:
- 5:d3c78f12a78d
--- a/Components/l6474/l6474_class.h Fri Oct 16 13:30:06 2015 +0000 +++ b/Components/l6474/l6474_class.h Fri Nov 13 12:56:06 2015 +0000 @@ -73,14 +73,14 @@ * #include "../Interfaces/Humidity_class.h" * * #include "../Interfaces/Temperature_class.h" * *----------------------------------------------------------------------------*/ -#include "../Interfaces/Motor_class.h" +#include "../Interfaces/StepperMotor_class.h" /* Classes -------------------------------------------------------------------*/ /** Class representing a L6474 component. */ -class L6474 : public Motor +class L6474 : public StepperMotor { public: @@ -88,13 +88,13 @@ /** * @brief Constructor. - * @param reset pin name of the STBY\RST pin of the component. - * @param direction pin name of the DIR pin of the component. - * @param pwm pin name of the PWM pin of the component. - * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. - * @param spi SPI device to be used for communication. + * @param standby_reset pin name of the STBY\RST pin of the component. + * @param direction pin name of the DIR pin of the component. + * @param pwm pin name of the PWM pin of the component. + * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. + * @param spi SPI device to be used for communication. */ - L6474(PinName reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : Motor(), direction(direction), pwm(pwm), reset(reset), ssel(ssel), dev_spi(spi) + L6474(PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi) { /* ACTION 4 ----------------------------------------------------------* * Initialize here the component's member variables, one variable per * @@ -155,64 +155,99 @@ return (int) L6474_ReadID((uint8_t *) id); } - virtual void AttachErrorHandler(void (*callback)(uint16_t error)) + virtual unsigned int GetStatus(void) { - L6474_AttachErrorHandler((void (*)(uint16_t error)) callback); + return (unsigned int) L6474_CmdGetStatus(); } - virtual void AttachFlagInterrupt(void (*callback)(void)) + virtual unsigned int GetParameter(unsigned int parameter) { - L6474_AttachFlagInterrupt((void (*)(void)) callback); + return (unsigned int) L6474_CmdGetParam((unsigned int) parameter); + } + + virtual signed int GetPosition(void) + { + return (signed int) L6474_GetPosition(); } - virtual void FlagInterruptHandler(void) + virtual signed int GetMark(void) { - L6474_FlagInterruptHandler(); + return (signed int) L6474_GetMark(); + } + + virtual direction_t GetDirection(void) + { + return (direction_t) L6474_GetDirection(); } - virtual uint16_t GetAcceleration(void) + virtual unsigned int GetSpeed(void) { - return (uint16_t) L6474_GetAcceleration(); + return (unsigned int) L6474_GetCurrentSpeed(); } - virtual uint16_t GetCurrentSpeed(void) + virtual unsigned int GetMaxSpeed(void) + { + return (unsigned int) L6474_GetMaxSpeed(); + } + + virtual unsigned int GetMinSpeed(void) { - return (uint16_t) L6474_GetCurrentSpeed(); + return (unsigned int) L6474_GetMinSpeed(); + } + + virtual unsigned int GetAcceleration(void) + { + return (unsigned int) L6474_GetAcceleration(); } - virtual uint16_t GetDeceleration(void) + virtual unsigned int GetDeceleration(void) { - return (uint16_t) L6474_GetDeceleration(); + return (unsigned int) L6474_GetDeceleration(); } - virtual motorState_t GetDeviceState(void) + virtual void SetParameter(unsigned int parameter, unsigned int value) { - return (motorState_t) L6474_GetDeviceState(); + L6474_CmdSetParam((unsigned int) parameter, (unsigned int) value); } - virtual uint8_t GetFwVersion(void) + virtual void SetHome(void) { - return (uint8_t) L6474_GetFwVersion(); + L6474_SetHome(); + } + + virtual void SetMark(void) + { + L6474_SetMark(); } - virtual int32_t GetMark(void) + virtual void SetDirection(direction_t direction) { - return (int32_t) L6474_GetMark(); + L6474_SetDirection((direction_t) direction); + } + + virtual void SetMaxSpeed(unsigned int speed) + { + L6474_SetMaxSpeed((unsigned int) speed); } - virtual uint16_t GetMaxSpeed(void) + virtual void SetMinSpeed(unsigned int speed) { - return (uint16_t) L6474_GetMaxSpeed(); + L6474_SetMinSpeed((unsigned int) speed); } - virtual uint16_t GetMinSpeed(void) + virtual void SetAcceleration(unsigned int acceleration) { - return (uint16_t) L6474_GetMinSpeed(); + L6474_SetAcceleration((unsigned int) acceleration); } - virtual int32_t GetPosition(void) + virtual void SetDeceleration(unsigned int deceleration) { - return (int32_t) L6474_GetPosition(); + L6474_SetDeceleration((unsigned int) deceleration); + } + + virtual void GoTo(signed int position) + { + L6474_GoTo((signed int) position); } virtual void GoHome(void) @@ -225,9 +260,19 @@ L6474_GoMark(); } - virtual void GoTo(int32_t targetPosition) + virtual void Run(direction_t direction) + { + L6474_Run((direction_t) direction); + } + + virtual void Move(direction_t direction, unsigned int steps) { - L6474_GoTo((int32_t) targetPosition); + L6474_Move((direction_t) direction, (unsigned int) steps); + } + + virtual void SoftStop(void) + { + L6474_SoftStop(); } virtual void HardStop(void) @@ -235,49 +280,14 @@ L6474_HardStop(); } - virtual void Move(motorDir_t direction, uint32_t stepCount) - { - L6474_Move((motorDir_t) direction, (uint32_t) stepCount); - } - - virtual void Run(motorDir_t direction) + virtual motorState_t GetDeviceState(void) { - L6474_Run((motorDir_t) direction); - } - - virtual bool SetAcceleration(uint16_t newAcc) - { - return (bool) L6474_SetAcceleration((uint16_t) newAcc); - } - - virtual bool SetDeceleration(uint16_t newDec) - { - return (bool) L6474_SetDeceleration((uint16_t) newDec); + return (motorState_t) L6474_GetDeviceState(); } - virtual void SetHome(void) - { - L6474_SetHome(); - } - - virtual void SetMark(void) - { - L6474_SetMark(); - } - - virtual bool SetMaxSpeed(uint16_t newMaxSpeed) + virtual uint8_t GetFwVersion(void) { - return (bool) L6474_SetMaxSpeed((uint16_t) newMaxSpeed); - } - - virtual bool SetMinSpeed(uint16_t newMinSpeed) - { - return (bool) L6474_SetMinSpeed((uint16_t) newMinSpeed); - } - - virtual bool SoftStop(void) - { - return (bool) L6474_SoftStop(); + return (uint8_t) L6474_GetFwVersion(); } virtual void StepClockHandler(void) @@ -300,26 +310,11 @@ L6474_CmdEnable(); } - virtual uint32_t CmdGetParam(uint32_t param) - { - return (uint32_t) L6474_CmdGetParam((uint32_t) param); - } - - virtual uint16_t CmdGetStatus(void) - { - return (uint16_t) L6474_CmdGetStatus(); - } - virtual void CmdNop(void) { L6474_CmdNop(); } - virtual void CmdSetParam(uint32_t param, uint32_t value) - { - L6474_CmdSetParam((uint32_t) param, (uint32_t) value); - } - virtual uint16_t ReadStatusRegister(void) { return (uint16_t) L6474_ReadStatusRegister(); @@ -340,16 +335,26 @@ L6474_SelectStepMode((motorStepMode_t) stepMod); } - virtual void SetDirection(motorDir_t direction) - { - L6474_SetDirection((motorDir_t) direction); - } - virtual void ErrorHandler(uint16_t error) { L6474_ErrorHandler((uint16_t) error); } + virtual void AttachErrorHandler(void (*callback)(uint16_t error)) + { + L6474_AttachErrorHandler((void (*)(uint16_t error)) callback); + } + + virtual void AttachFlagInterrupt(void (*callback)(void)) + { + L6474_AttachFlagInterrupt((void (*)(void)) callback); + } + + virtual void FlagInterruptHandler(void) + { + L6474_FlagInterruptHandler(); + } + /*** Public Interrupt Related Methods ***/ @@ -420,8 +425,8 @@ void L6474_GoMark(void); //Move to the Mark position void L6474_GoTo(int32_t targetPosition); //Go to the specified position void L6474_HardStop(void); //Stop the motor and disable the power bridge - void L6474_Move(motorDir_t direction, uint32_t stepCount); //Move the motor of the specified number of steps - void L6474_Run(motorDir_t direction); //Run the motor + void L6474_Move(direction_t direction, uint32_t stepCount); //Move the motor of the specified number of steps + void L6474_Run(direction_t direction); //Run the motor bool L6474_SetAcceleration(uint16_t newAcc); //Set the acceleration in pps^2 bool L6474_SetDeceleration(uint16_t newDec); //Set the deceleration in pps^2 void L6474_SetHome(void); //Set current position to be the home position @@ -438,7 +443,8 @@ void L6474_CmdSetParam(uint32_t param, uint32_t value); //Send the L6474_SET_PARAM command uint16_t L6474_ReadStatusRegister(void); //Read the L6474_STATUS register without clearing the flags void L6474_SelectStepMode(motorStepMode_t stepMod); //Step mode selection - void L6474_SetDirection(motorDir_t direction); //Set the L6474 direction pin + direction_t L6474_GetDirection(void); //Get the direction of rotation + void L6474_SetDirection(direction_t direction); //Set the direction of rotation void L6474_ApplySpeed(uint16_t newSpeed); void L6474_ComputeSpeedProfile(uint32_t nbSteps); int32_t L6474_ConvertPosition(uint32_t abs_position_reg); @@ -562,19 +568,21 @@ } /* - * Setting the standby/reset pin to high. + * Puts the device in standby mode. */ void L6474_ReleaseReset(void) { - reset = 1; + /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */ + standby_reset = 1; } /* - * Resetting the standby/reset pin to put the device in standby mode. + * Puts the device in reset mode. */ void L6474_Reset(void) { - reset = 0; + /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */ + standby_reset = 0; } /* @@ -606,11 +614,8 @@ /* Type. */ uint8_t type; - /* Configuration. */ - DigitalOut ssel; - - /* Standby and reset pin. */ - DigitalOut reset; + /* Standby/reset pin. */ + DigitalOut standby_reset; /* Direction of rotation pin. */ DigitalOut direction; @@ -618,12 +623,15 @@ /* Pulse Width Modulation pin. */ PwmOut pwm; - /* Timer to trigger the PWM callback at each PWM pulse. */ - Ticker ticker; + /* Configuration. */ + DigitalOut ssel; /* IO Device. */ DevSPI &dev_spi; + /* Timer to trigger the PWM callback at each PWM pulse. */ + Ticker ticker; + /* Interrupts. */ /* ACTION 10 -------------------------------------------------------------* * Put here interrupt related objects, if needed. *